예제 #1
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 public static OpenMetaverse.Vector3 XnaVector3ToPhysicsVector(Vector3 xnaVector3)
 {
     return new OpenMetaverse.Vector3(xnaVector3.X, xnaVector3.Y, xnaVector3.Z);
 }
예제 #2
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        //added by jed zhu
        private int CheckCollision(BulletXActor actA, int ia, int ib, int ic, Vector3 vNormal, Vector3[] vertBase)
        {
            Vector3 perPlaneNormal;
            float fPerPlaneDist;
            OpenMetaverse.Vector3 v = actA.Position;
            Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v);
            //check AB
            Vector3 v1;
            v1 = vertBase[ib] - vertBase[ia];
            Vector3.Cross(ref vNormal, ref v1, out perPlaneNormal);
            Vector3.Normalize(ref perPlaneNormal, out perPlaneNormal);

            if (Vector3.Dot((vertBase[ic] - vertBase[ia]), perPlaneNormal) < 0)
                perPlaneNormal = -perPlaneNormal;
            fPerPlaneDist = Vector3.Dot(perPlaneNormal, vertBase[ia]) - 0.50f;



            if ((Vector3.Dot(perPlaneNormal, v3) - fPerPlaneDist) < 0)
                return 0;
            fPerPlaneDist = Vector3.Dot(perPlaneNormal, vertBase[ic]) + 0.50f;
            if ((Vector3.Dot(perPlaneNormal, v3) - fPerPlaneDist) > 0)
                return 0;

            //check BC

            v1 = vertBase[ic] - vertBase[ib];
            Vector3.Cross(ref vNormal, ref v1, out perPlaneNormal);
            Vector3.Normalize(ref perPlaneNormal, out perPlaneNormal);

            if (Vector3.Dot((vertBase[ia] - vertBase[ib]), perPlaneNormal) < 0)
                perPlaneNormal = -perPlaneNormal;
            fPerPlaneDist = Vector3.Dot(perPlaneNormal, vertBase[ib]) - 0.50f;


            if ((Vector3.Dot(perPlaneNormal, v3) - fPerPlaneDist) < 0)
                return 0;
            fPerPlaneDist = Vector3.Dot(perPlaneNormal, vertBase[ia]) + 0.50f;
            if ((Vector3.Dot(perPlaneNormal, v3) - fPerPlaneDist) > 0)
                return 0;
            //check CA
            v1 = vertBase[ia] - vertBase[ic];
            Vector3.Cross(ref vNormal, ref v1, out perPlaneNormal);
            Vector3.Normalize(ref perPlaneNormal, out perPlaneNormal);

            if (Vector3.Dot((vertBase[ib] - vertBase[ic]), perPlaneNormal) < 0)
                perPlaneNormal = -perPlaneNormal;
            fPerPlaneDist = Vector3.Dot(perPlaneNormal, vertBase[ic]) - 0.50f;


            if ((Vector3.Dot(perPlaneNormal, v3) - fPerPlaneDist) < 0)
                return 0;
            fPerPlaneDist = Vector3.Dot(perPlaneNormal, vertBase[ib]) + 0.50f;
            if ((Vector3.Dot(perPlaneNormal, v3) - fPerPlaneDist) > 0)
                return 0;

            return 1;

        }
예제 #3
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        public BulletXScene()
        {
            cDispatcher = new CollisionDispatcherLocal(this);
            Vector3 worldMinDim = new Vector3((float) minXY, (float) minXY, (float) minZ);
            Vector3 worldMaxDim = new Vector3((float) maxXY, (float) maxXY, (float) maxZ);
            opCache = new AxisSweep3(worldMinDim, worldMaxDim, maxHandles);
            sicSolver = new SequentialImpulseConstraintSolver();

            lock (BulletXLock)
            {
                ddWorld = new DiscreteDynamicsWorld(cDispatcher, opCache, sicSolver);
                ddWorld.Gravity = new Vector3(0, 0, -gravity);
            }
            //this._heightmap = new float[65536];
        }
예제 #4
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        //added by jed zhu
        //calculas the collision between the Prim and Actor
        //
        private int Collision(BulletXCharacter actorA, BulletXPrim primB)
        {
            int[] indexBase;
            Vector3[] vertexBase;
            Vector3 vNormal;
            // Vector3 vP1;
            // Vector3 vP2;
            // Vector3 vP3;
            IMesh mesh = primB.GetMesh();

            float fdistance;
            if (primB == null)
                return 3;
            if (mesh == null)
                return 2;
            if (actorA == null)
                return 3;

            int iVertexCount = mesh.getVertexList().Count;
            int iIndexCount = mesh.getIndexListAsInt().Length;
            if (iVertexCount == 0)
                return 3;
            if (iIndexCount == 0)
                return 3;
            lock (BulletXScene.BulletXLock)
            {
                indexBase = mesh.getIndexListAsInt();
                vertexBase = new Vector3[iVertexCount];
                
                for (int i = 0; i < iVertexCount; i++)
                {
                    OpenMetaverse.Vector3 v = mesh.getVertexList()[i];
                    if (v != null) // Note, null has special meaning. See meshing code for details
                        vertexBase[i] = BulletXMaths.PhysicsVectorToXnaVector3(v);
                    else
                        vertexBase[i] = Vector3.Zero;
                }
                
                for (int ix = 0; ix < iIndexCount; ix += 3)
                {
                    int ia = indexBase[ix + 0];
                    int ib = indexBase[ix + 1];
                    int ic = indexBase[ix + 2];
                    //
                    Vector3 v1 = vertexBase[ib] - vertexBase[ia];
                    Vector3 v2 = vertexBase[ic] - vertexBase[ia];

                    Vector3.Cross(ref v1, ref v2, out vNormal);
                    Vector3.Normalize(ref vNormal, out vNormal);

                    fdistance = Vector3.Dot(vNormal, vertexBase[ia]) + 0.50f;
                    if (preCheckCollision(actorA, vNormal, fdistance) == 1)
                    {
                        if (CheckCollision(actorA, ia, ib, ic, vNormal, vertexBase) == 1)
                        {
                            //PhysicsVector v = actorA.Position;
                            //Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v);
                            //Vector3 vp = vNormal * (fdistance - Vector3.Dot(vNormal, v3) + 0.2f);
                            //actorA.Position += BulletXMaths.XnaVector3ToPhysicsVector(vp);
                            return 1;
                        }
                    }
                }
            }


            return 0;
        }
예제 #5
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        //added by jed zhu
        //return value 1: need second check
        //return value 0: no need check

        private int preCheckCollision(BulletXActor actA, Vector3 vNormal, float fDist)
        {
            float fstartSide;
            OpenMetaverse.Vector3 v = actA.Position;
            Vector3 v3 = BulletXMaths.PhysicsVectorToXnaVector3(v);

            fstartSide = Vector3.Dot(vNormal, v3) - fDist;
            if (fstartSide > 0) return 0;
            else return 1;
        }
예제 #6
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        internal BulletXPlanet(BulletXScene parent_scene, float[] heightField)
        {
            _staticPosition = new OpenMetaverse.Vector3(BulletXScene.MaxXY / 2, BulletXScene.MaxXY / 2, 0);
//             _staticVelocity = new PhysicsVector();
//             _staticOrientation = OpenMetaverse.Quaternion.Identity;
            _mass = 0; //No active
            // _parentscene = parent_scene;
            _heightField = heightField;

            float _linearDamping = 0.0f;
            float _angularDamping = 0.0f;
            float _friction = 0.5f;
            float _restitution = 0.0f;
            Matrix _startTransform = Matrix.Identity;
            Matrix _centerOfMassOffset = Matrix.Identity;

            lock (BulletXScene.BulletXLock)
            {
                try
                {
                    _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(_staticPosition);
                    CollisionShape _collisionShape =
                        new HeightfieldTerrainShape(BulletXScene.MaxXY, BulletXScene.MaxXY, _heightField,
                                                    (float) BulletXScene.MaxZ, 2, true, false);
                    DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
                    Vector3 _localInertia = new Vector3();
                    //_collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0
                    _flatPlanet =
                        new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping,
                                      _angularDamping, _friction, _restitution);
                    //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
                    Vector3 _vDebugTranslation;
                    _vDebugTranslation = _startTransform.Translation - _flatPlanet.CenterOfMassPosition;
                    _flatPlanet.Translate(_vDebugTranslation);
                    parent_scene.ddWorld.AddRigidBody(_flatPlanet);
                }
                catch (Exception ex)
                {
                    BulletXScene.BulletXMessage(ex.Message, true);
                }
            }
            BulletXScene.BulletXMessage("BulletXPlanet created.", false);
        }
예제 #7
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        internal float HeightValue(Vector3 position)
        {
            int li_x, li_y;
            float height;
            li_x = (int) Math.Round(position.X);
            if (li_x < 0) li_x = 0;
            if (li_x >= BulletXScene.MaxXY) li_x = BulletXScene.MaxXY - 1;
            li_y = (int) Math.Round(position.Y);
            if (li_y < 0) li_y = 0;
            if (li_y >= BulletXScene.MaxXY) li_y = BulletXScene.MaxXY - 1;

            height = ((HeightfieldTerrainShape) _flatPlanet.CollisionShape).getHeightFieldValue(li_x, li_y);
            if (height < 0) height = 0;
            else if (height > BulletXScene.MaxZ) height = BulletXScene.MaxZ;

            return height;
        }
예제 #8
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        protected internal void CreateRigidBody(BulletXScene parent_scene, IMesh mesh, OpenMetaverse.Vector3 pos,
                                                OpenMetaverse.Vector3 size)
        {
            //For RigidBody Constructor. The next values might change
            float _linearDamping = 0.0f;
            float _angularDamping = 0.0f;
            float _friction = 1.0f;
            float _restitution = 0.0f;
            Matrix _startTransform = Matrix.Identity;
            Matrix _centerOfMassOffset = Matrix.Identity;
            //added by jed zhu
            _mesh = mesh;

            lock (BulletXScene.BulletXLock)
            {
                _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(pos);
                //For now all prims are boxes
                CollisionShape _collisionShape;
                if (mesh == null)
                {
                    _collisionShape = new BoxShape(BulletXMaths.PhysicsVectorToXnaVector3(size)/2.0f);
                }
                else
                {
                    int iVertexCount = mesh.getVertexList().Count;
                    int[] indices = mesh.getIndexListAsInt();
                    Vector3[] v3Vertices = new Vector3[iVertexCount];
                    for (int i = 0; i < iVertexCount; i++)
                    {
                        OpenMetaverse.Vector3 v = mesh.getVertexList()[i];
                        if (v != null) // Note, null has special meaning. See meshing code for details
                            v3Vertices[i] = BulletXMaths.PhysicsVectorToXnaVector3(v);
                        else
                            v3Vertices[i] = Vector3.Zero;
                    }
                    TriangleIndexVertexArray triMesh = new TriangleIndexVertexArray(indices, v3Vertices);

                    _collisionShape = new TriangleMeshShape(triMesh);
                }
                DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
                Vector3 _localInertia = new Vector3();
                if (_physical) _collisionShape.CalculateLocalInertia(Mass, out _localInertia); //Always when mass > 0
                rigidBody =
                    new RigidBody(Mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping,
                                  _friction, _restitution);
                //rigidBody.ActivationState = ActivationState.DisableDeactivation;
                //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
                Vector3 _vDebugTranslation;
                _vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition;
                rigidBody.Translate(_vDebugTranslation);
                //---
                parent_scene.ddWorld.AddRigidBody(rigidBody);
            }
        }
예제 #9
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 internal void Move(float timeStep)
 {
     Vector3 vec = new Vector3();
     //At this point it's supossed that:
     //_velocity == rigidBody.LinearVelocity
     vec.X = _velocity.X;
     vec.Y = _velocity.Y;
     vec.Z = _velocity.Z;
     if ((vec.X != 0.0f) || (vec.Y != 0.0f) || (vec.Z != 0.0f)) rigidBody.Activate();
     if (flying)
     {
         //Antigravity with movement
         if (_position.Z <= BulletXScene.HeightLevel0)
         {
             vec.Z += BulletXScene.Gravity*timeStep;
         }
             //Lowgravity with movement
         else if ((_position.Z > BulletXScene.HeightLevel0)
                  && (_position.Z <= BulletXScene.HeightLevel1))
         {
             vec.Z += BulletXScene.Gravity*timeStep*(1.0f - BulletXScene.LowGravityFactor);
         }
             //Lowgravity with...
         else if (_position.Z > BulletXScene.HeightLevel1)
         {
             if (vec.Z > 0) //no movement
                 vec.Z = BulletXScene.Gravity*timeStep*(1.0f - BulletXScene.LowGravityFactor);
             else
                 vec.Z += BulletXScene.Gravity*timeStep*(1.0f - BulletXScene.LowGravityFactor);
         }
     }
     rigidBody.LinearVelocity = vec;
 }
예제 #10
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        public BulletXCharacter(String avName, BulletXScene parent_scene, OpenMetaverse.Vector3 pos, OpenMetaverse.Vector3 velocity,
                                OpenMetaverse.Vector3 size, OpenMetaverse.Vector3 acceleration, OpenMetaverse.Quaternion orientation)
            : base(avName)
        {
            //This fields will be removed. They're temporal
            float _sizeX = 0.5f;
            float _sizeY = 0.5f;
            float _sizeZ = 1.6f;
            //.
            _position = pos;
            _velocity = velocity;
            _size = size;
            //---
            _size.X = _sizeX;
            _size.Y = _sizeY;
            _size.Z = _sizeZ;
            //.
            _acceleration = acceleration;
            _orientation = orientation;
            _physical = true;

            float _mass = 50.0f; //This depends of avatar's dimensions
            //For RigidBody Constructor. The next values might change
            float _linearDamping = 0.0f;
            float _angularDamping = 0.0f;
            float _friction = 0.5f;
            float _restitution = 0.0f;
            Matrix _startTransform = Matrix.Identity;
            Matrix _centerOfMassOffset = Matrix.Identity;
            lock (BulletXScene.BulletXLock)
            {
                _startTransform.Translation = BulletXMaths.PhysicsVectorToXnaVector3(pos);
                //CollisionShape _collisionShape = new BoxShape(new MonoXnaCompactMaths.Vector3(1.0f, 1.0f, 1.60f));
                //For now, like ODE, collisionShape = sphere of radious = 1.0
                CollisionShape _collisionShape = new SphereShape(1.0f);
                DefaultMotionState _motionState = new DefaultMotionState(_startTransform, _centerOfMassOffset);
                Vector3 _localInertia = new Vector3();
                _collisionShape.CalculateLocalInertia(_mass, out _localInertia); //Always when mass > 0
                rigidBody =
                    new RigidBody(_mass, _motionState, _collisionShape, _localInertia, _linearDamping, _angularDamping,
                                  _friction, _restitution);
                //rigidBody.ActivationState = ActivationState.DisableDeactivation;
                //It's seems that there are a bug with rigidBody constructor and its CenterOfMassPosition
                Vector3 _vDebugTranslation;
                _vDebugTranslation = _startTransform.Translation - rigidBody.CenterOfMassPosition;
                rigidBody.Translate(_vDebugTranslation);
                parent_scene.ddWorld.AddRigidBody(rigidBody);
            }
        }
예제 #11
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 public override void ProcessAllTriangles(ITriangleCallback callback, MonoXnaCompactMaths.Vector3 aabbMin, MonoXnaCompactMaths.Vector3 aabbMax)
 {
     throw new Exception("The method or operation is not implemented.");
 }
예제 #12
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 public static PhysicsVector XnaVector3ToPhysicsVector(Vector3 xnaVector3)
 {
     return new PhysicsVector(xnaVector3.X, xnaVector3.Y, xnaVector3.Z);
 }